//override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
//If no axis is provided, it uses the default axis for this constraint.
public override void setParam( btConstraintParams num, double value, int axis = -1 )
{
if( ( axis >= 0 ) && ( axis < 3 ) )
{
switch( num )
{
case btConstraintParams.BT_CONSTRAINT_STOP_ERP:
m_linearLimits.m_stopERP[axis] = value;
m_flags |= bt6DofFlagsIndexed.BT_6DOF_FLAGS_ERP_STOP2[axis];
break;
case btConstraintParams.BT_CONSTRAINT_STOP_CFM:
m_linearLimits.m_stopCFM[axis] = value;
m_flags |= bt6DofFlagsIndexed.BT_6DOF_FLAGS_CFM_STOP2[axis];
break;
case btConstraintParams.BT_CONSTRAINT_ERP:
m_linearLimits.m_motorERP[axis] = value;
m_flags |= bt6DofFlagsIndexed.BT_6DOF_FLAGS_ERP_MOTO2[axis];
break;
case btConstraintParams.BT_CONSTRAINT_CFM:
m_linearLimits.m_motorCFM[axis] = value;
m_flags |= bt6DofFlagsIndexed.BT_6DOF_FLAGS_CFM_MOTO2[axis];
break;
default:
btAssertConstrParams( false );
break;
}
}
else if( ( axis >= 3 ) && ( axis < 6 ) )
{
switch( num )
{
case btConstraintParams.BT_CONSTRAINT_STOP_ERP:
m_angularLimits[axis - 3].m_stopERP = value;
m_flags |= bt6DofFlagsIndexed.BT_6DOF_FLAGS_ERP_STOP2[axis];
break;
case btConstraintParams.BT_CONSTRAINT_STOP_CFM:
m_angularLimits[axis - 3].m_stopCFM = value;
m_flags |= bt6DofFlagsIndexed.BT_6DOF_FLAGS_CFM_STOP2[axis];
break;
case btConstraintParams.BT_CONSTRAINT_ERP:
m_angularLimits[axis - 3].m_motorERP = value;
m_flags |= bt6DofFlagsIndexed.BT_6DOF_FLAGS_ERP_MOTO2[axis];
break;
case btConstraintParams.BT_CONSTRAINT_CFM:
m_angularLimits[axis - 3].m_motorCFM = value;
m_flags |= bt6DofFlagsIndexed.BT_6DOF_FLAGS_CFM_MOTO2[axis];
break;
default:
btAssertConstrParams( false );
break;
}
}
else
{
btAssertConstrParams( false );
}
}
//return the local value of parameter
public override double getParam( btConstraintParams num, int axis = -1 )
{
double retVal = 0;
if( ( axis >= 0 ) && ( axis < 3 ) )
{
switch( num )
{
case btConstraintParams.BT_CONSTRAINT_STOP_ERP:
btAssertConstrParams( ( m_flags & ( bt6DofFlagsIndexed.BT_6DOF_FLAGS_ERP_STOP2[axis] ) ) != 0 );
retVal = m_linearLimits.m_stopERP[axis];
break;
case btConstraintParams.BT_CONSTRAINT_STOP_CFM:
btAssertConstrParams( ( m_flags & ( bt6DofFlagsIndexed.BT_6DOF_FLAGS_CFM_STOP2[axis] ) ) != 0 );
retVal = m_linearLimits.m_stopCFM[axis];
break;
case btConstraintParams.BT_CONSTRAINT_ERP:
btAssertConstrParams( ( m_flags & ( bt6DofFlagsIndexed.BT_6DOF_FLAGS_ERP_MOTO2[axis] ) ) != 0 );
retVal = m_linearLimits.m_motorERP[axis];
break;
case btConstraintParams.BT_CONSTRAINT_CFM:
btAssertConstrParams( ( m_flags & ( bt6DofFlagsIndexed.BT_6DOF_FLAGS_CFM_MOTO2[axis] ) ) != 0 );
retVal = m_linearLimits.m_motorCFM[axis];
break;
default:
btAssertConstrParams( false );
break;
}
}
else if( ( axis >= 3 ) && ( axis < 6 ) )
{
switch( num )
{
case btConstraintParams.BT_CONSTRAINT_STOP_ERP:
btAssertConstrParams( ( m_flags & ( bt6DofFlagsIndexed.BT_6DOF_FLAGS_ERP_STOP2[axis] ) ) != 0 );
retVal = m_angularLimits[axis - 3].m_stopERP;
break;
case btConstraintParams.BT_CONSTRAINT_STOP_CFM:
btAssertConstrParams( ( m_flags & ( bt6DofFlagsIndexed.BT_6DOF_FLAGS_CFM_STOP2[axis] ) ) != 0 );
retVal = m_angularLimits[axis - 3].m_stopCFM;
break;
case btConstraintParams.BT_CONSTRAINT_ERP:
btAssertConstrParams( ( m_flags & ( bt6DofFlagsIndexed.BT_6DOF_FLAGS_ERP_MOTO2[axis] ) ) != 0 );
retVal = m_angularLimits[axis - 3].m_motorERP;
break;
case btConstraintParams.BT_CONSTRAINT_CFM:
btAssertConstrParams( ( m_flags & ( bt6DofFlagsIndexed.BT_6DOF_FLAGS_CFM_MOTO2[axis] ) ) != 0 );
retVal = m_angularLimits[axis - 3].m_motorCFM;
break;
default:
btAssertConstrParams( false );
break;
}
}
else
{
btAssertConstrParams( false );
}
return retVal;
}
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
///If no axis is provided, it uses the default axis for this constraint.
public override void setParam( btConstraintParams num, double value, int axis = -1 )
{
if( axis != -1 )
{
btAssertConstrParams( false );
}
else
{
switch( num )
{
case btConstraintParams.BT_CONSTRAINT_ERP:
case btConstraintParams.BT_CONSTRAINT_STOP_ERP:
m_erp = value;
m_flags |= btPoint2PointFlags.BT_P2P_FLAGS_ERP;
break;
case btConstraintParams.BT_CONSTRAINT_CFM:
case btConstraintParams.BT_CONSTRAINT_STOP_CFM:
m_cfm = value;
m_flags |= btPoint2PointFlags.BT_P2P_FLAGS_CFM;
break;
default:
btAssertConstrParams( false );
break;
}
}
}
///return the local value of parameter
public override double getParam( btConstraintParams num, int axis = -1 )
{
double retVal = ( btScalar.SIMD_INFINITY );
if( axis != -1 )
{
btAssertConstrParams( false );
}
else
{
switch( num )
{
case btConstraintParams.BT_CONSTRAINT_ERP:
case btConstraintParams.BT_CONSTRAINT_STOP_ERP:
btAssertConstrParams( ( m_flags & btPoint2PointFlags.BT_P2P_FLAGS_ERP ) != 0 );
retVal = m_erp;
break;
case btConstraintParams.BT_CONSTRAINT_CFM:
case btConstraintParams.BT_CONSTRAINT_STOP_CFM:
btAssertConstrParams( ( m_flags & btPoint2PointFlags.BT_P2P_FLAGS_CFM ) != 0 );
retVal = m_cfm;
break;
default:
btAssertConstrParams( false );
break;
}
}
return retVal;
}
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
///If no axis is provided, it uses the default axis for this constraint.
public override void setParam( btConstraintParams num, double value, int axis )
{
switch( num )
{
case btConstraintParams.BT_CONSTRAINT_STOP_ERP:
if( axis < 1 )
{
m_softnessLimLin = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_ERP_LIMLIN;
}
else if( axis < 3 )
{
m_softnessOrthoLin = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_ERP_ORTLIN;
}
else if( axis == 3 )
{
m_softnessLimAng = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_ERP_LIMANG;
}
else if( axis < 6 )
{
m_softnessOrthoAng = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_ERP_ORTANG;
}
else
{
btAssertConstrParams( false );
}
break;
case btConstraintParams.BT_CONSTRAINT_CFM:
if( axis < 1 )
{
m_cfmDirLin = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_CFM_DIRLIN;
}
else if( axis == 3 )
{
m_cfmDirAng = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_CFM_DIRANG;
}
else
{
btAssertConstrParams( false );
}
break;
case btConstraintParams.BT_CONSTRAINT_STOP_CFM:
if( axis < 1 )
{
m_cfmLimLin = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_CFM_LIMLIN;
}
else if( axis < 3 )
{
m_cfmOrthoLin = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_CFM_ORTLIN;
}
else if( axis == 3 )
{
m_cfmLimAng = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_CFM_LIMANG;
}
else if( axis < 6 )
{
m_cfmOrthoAng = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_CFM_ORTANG;
}
else
{
btAssertConstrParams( false );
}
break;
}
}
///return the local value of parameter
public override double getParam( btConstraintParams num, int axis = -1 )
{
double retVal = 0;
if( ( axis == -1 ) || ( axis == 5 ) )
{
switch( num )
{
case btConstraintParams.BT_CONSTRAINT_STOP_ERP:
btAssertConstrParams( ( m_flags & btHingeFlags.BT_HINGE_FLAGS_ERP_STOP ) != 0 );
retVal = m_stopERP;
break;
case btConstraintParams.BT_CONSTRAINT_STOP_CFM:
btAssertConstrParams( ( m_flags & btHingeFlags.BT_HINGE_FLAGS_CFM_STOP ) != 0 );
retVal = m_stopCFM;
break;
case btConstraintParams.BT_CONSTRAINT_CFM:
btAssertConstrParams( ( m_flags & btHingeFlags.BT_HINGE_FLAGS_CFM_NORM ) != 0 );
retVal = m_normalCFM;
break;
case btConstraintParams.BT_CONSTRAINT_ERP:
btAssertConstrParams( ( m_flags & btHingeFlags.BT_HINGE_FLAGS_ERP_NORM ) != 0 );
retVal = m_normalERP;
break;
default:
btAssertConstrParams( false );
break;
}
}
else
{
btAssertConstrParams( false );
}
return retVal;
}
///return the local value of parameter
public override double getParam( btConstraintParams num, int axis )
{
double retVal = ( btScalar.BT_LARGE_FLOAT );
switch( num )
{
case btConstraintParams.BT_CONSTRAINT_STOP_ERP:
if( axis < 1 )
{
btAssertConstrParams( ( m_flags & btSliderFlags.BT_SLIDER_FLAGS_ERP_LIMLIN ) != 0 );
retVal = m_softnessLimLin;
}
else if( axis < 3 )
{
btAssertConstrParams( ( m_flags & btSliderFlags.BT_SLIDER_FLAGS_ERP_ORTLIN ) != 0 );
retVal = m_softnessOrthoLin;
}
else if( axis == 3 )
{
btAssertConstrParams( ( m_flags & btSliderFlags.BT_SLIDER_FLAGS_ERP_LIMANG ) != 0 );
retVal = m_softnessLimAng;
}
else if( axis < 6 )
{
btAssertConstrParams( ( m_flags & btSliderFlags.BT_SLIDER_FLAGS_ERP_ORTANG ) != 0 );
retVal = m_softnessOrthoAng;
}
else
{
btAssertConstrParams( false );
}
break;
case btConstraintParams.BT_CONSTRAINT_CFM:
if( axis < 1 )
{
btAssertConstrParams( ( m_flags & btSliderFlags.BT_SLIDER_FLAGS_CFM_DIRLIN ) != 0 );
retVal = m_cfmDirLin;
}
else if( axis == 3 )
{
btAssertConstrParams( ( m_flags & btSliderFlags.BT_SLIDER_FLAGS_CFM_DIRANG ) != 0 );
retVal = m_cfmDirAng;
}
else
{
btAssertConstrParams( false );
}
break;
case btConstraintParams.BT_CONSTRAINT_STOP_CFM:
if( axis < 1 )
{
btAssertConstrParams( ( m_flags & btSliderFlags.BT_SLIDER_FLAGS_CFM_LIMLIN ) != 0 );
retVal = m_cfmLimLin;
}
else if( axis < 3 )
{
btAssertConstrParams( ( m_flags & btSliderFlags.BT_SLIDER_FLAGS_CFM_ORTLIN ) != 0 );
retVal = m_cfmOrthoLin;
}
else if( axis == 3 )
{
btAssertConstrParams( ( m_flags & btSliderFlags.BT_SLIDER_FLAGS_CFM_LIMANG ) != 0 );
retVal = m_cfmLimAng;
}
else if( axis < 6 )
{
btAssertConstrParams( ( m_flags & btSliderFlags.BT_SLIDER_FLAGS_CFM_ORTANG ) != 0 );
retVal = m_cfmOrthoAng;
}
else
{
btAssertConstrParams( false );
}
break;
}
return retVal;
}
///return the local value of parameter public abstract double getParam( btConstraintParams num, int axis = -1 );
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). ///If no axis is provided, it uses the default axis for this constraint. public abstract void setParam( btConstraintParams num, double value, int axis = -1 );
///return the local value of parameter
public override double getParam( btConstraintParams num, int axis )
{
double retVal = 0;
switch( num )
{
case btConstraintParams.BT_CONSTRAINT_ERP:
case btConstraintParams.BT_CONSTRAINT_STOP_ERP:
if( ( axis >= 0 ) && ( axis < 3 ) )
{
btAssertConstrParams( ( m_flags & btConeTwistFlags.BT_CONETWIST_FLAGS_LIN_ERP ) != 0 );
retVal = m_linERP;
}
else if( ( axis >= 3 ) && ( axis < 6 ) )
{
retVal = m_biasFactor;
}
else
{
btAssertConstrParams( false );
}
break;
case btConstraintParams.BT_CONSTRAINT_CFM:
case btConstraintParams.BT_CONSTRAINT_STOP_CFM:
if( ( axis >= 0 ) && ( axis < 3 ) )
{
btAssertConstrParams( ( m_flags & btConeTwistFlags.BT_CONETWIST_FLAGS_LIN_CFM ) != 0 );
retVal = m_linCFM;
}
else if( ( axis >= 3 ) && ( axis < 6 ) )
{
btAssertConstrParams( ( m_flags & btConeTwistFlags.BT_CONETWIST_FLAGS_ANG_CFM ) != 0 );
retVal = m_angCFM;
}
else
{
btAssertConstrParams( false );
}
break;
default:
btAssertConstrParams( false );
break;
}
return retVal;
}
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
///If no axis is provided, it uses the default axis for this constraint.
public override void setParam( btConstraintParams num, double value, int axis = -1 )
{
switch( num )
{
case btConstraintParams.BT_CONSTRAINT_ERP:
case btConstraintParams.BT_CONSTRAINT_STOP_ERP:
if( ( axis >= 0 ) && ( axis < 3 ) )
{
m_linERP = value;
m_flags |= btConeTwistFlags.BT_CONETWIST_FLAGS_LIN_ERP;
}
else
{
m_biasFactor = value;
}
break;
case btConstraintParams.BT_CONSTRAINT_CFM:
case btConstraintParams.BT_CONSTRAINT_STOP_CFM:
if( ( axis >= 0 ) && ( axis < 3 ) )
{
m_linCFM = value;
m_flags |= btConeTwistFlags.BT_CONETWIST_FLAGS_LIN_CFM;
}
else
{
m_angCFM = value;
m_flags |= btConeTwistFlags.BT_CONETWIST_FLAGS_ANG_CFM;
}
break;
default:
btAssertConstrParams( false );
break;
}
}
